Methods, devices, systems, and computer-readable media for supporting position estimation are disclosed. A method at a first user equipment (UE) device may comprise sending or receiving, via a sidelink channel, a ranging signal between the first UE device and a second UE device. The method may further comprise obtaining at least one ranging measurement based on the sending or receiving the ranging signal between the first UE device and a second UE device. The method may further comprise broadcasting, via the sidelink channel, (1) the at least one ranging measurement with a reference to the second UE device or (2) a position estimate for the first UE device based on the at least one ranging measurement.